EP3726327B1

EP3726327B1 - System and method for use in automatically parking vehicle into battery exchange space within battery exchange station, and electric vehicle

Info

Publication number: EP3726327B1
Application number: EP18888640.2A
Authority: EP
Inventors: Qian Li
Original assignee: NIO Anhui Holding Co Ltd
Current assignee: NIO Holding Co Ltd
Priority date: 2017-12-15
Filing date: 2018-12-13
Publication date: 2024-02-28
Anticipated expiration: 2038-12-13
Also published as: WO2019114794A1; CN109933054A; EP3726327A1; EP3726327A4

Description

Technical Field

The invention relates to the field of vehicles, in particular to a system and a method for automatically parking a vehicle in a battery swap parking space within a battery swap station, and an electric vehicle.

Background Art

A big problem that the popularization of electric vehicles is faced with lies in insufficient endurance mileage and more time-consuming charging compared with refueling. The problem may be better solved by a battery replacement solution and better experience than refueling may also be obtained, and a vehicle owner may only spend on battery swapping about as much time as the refueling. However, a parking space in a power swap station is relatively narrow, such that manual parking into the power swap station requires a skilled driver, the requirement is high for the driver, and unsafe hidden dangers may be caused by collision possible during the parking. EP 2 100 778 A1 relates to a parking assistance apparatus and, in particular, a parking assistance apparatus that performs a parking assist by recognizing a relative positional relation between a vehicle and a target parking position. CN 107 399 302 A relates to a battery charging and swapping station and a battery swapping method. EP 3 153 384 A1 relates to a parking guidance apparatus and method for providing parking guidance for a vehicle.

Summary of the Invention

The invention is implemented to overcome one or more of the shortcomings or other shortcomings, and the adopted technical solutions are as follows. The present invention is defined in the claims.
According to one aspect of the invention, there is provided a system for automatically parking a vehicle into a battery swap parking space within a battery swap station, comprising:

an image acquiring unit configured to acquire an image of the ground around a vehicle; and
a control unit configured to determine, on the basis of the acquired image, whether the vehicle is located within a parking start area determined by means of prearranged first ground marks, to determine a position of the vehicle relative to the first ground marks if it is determined that the vehicle is located within the parking start area, to determine, on the basis of the position, a parking path for traveling from the position to the battery swap parking space within the battery swap station, and to control the vehicle to perform a parking operation according to the parking path.

Further, according to one aspect of the invention,

the parking path comprises advancing from the position Pt1 (x1, y1) to a position Pt2 (x2, y2), next reversing to a position Pt3 (x3, y3), then traveling to a position Pt4 (x4, y4) in a curve, and finally traveling straight into the battery swap parking space,
wherein with the width direction of the battery swap parking space as an x-axis direction and the length direction of the battery swap parking space as a y-axis direction, the x1, x2, x3, x4, y1, y2, y3 and y4 satisfy the following relationship:
x1 min < x1 < x1 max and y1 min < y1 < y1 max, wherein x1 min, x1 max, y1 min and y1 max represent constants determined according to the length and width of the battery swap parking space;
x2 > half of the width of the battery swap parking space + a minimum turning radius which can be reached by the vehicle, and y2 = y1;
x3 = x2 - Delta X and y3 = y1, wherein Delta X represents a constant determined according to the movement speed of the vehicle advancing from Pt1 to Pt2; and
x4 = x3 - the turning radius of the vehicle, and y4 = y2 - the turning radius of the vehicle.

According to the invention, the system further comprises:
a display unit configured to display information for prompting a driver to adjust the position of the vehicle if the control unit determines that the vehicle is not located within the parking start area.
Further, according to one aspect of the invention, the control unit is further configured to determine whether the vehicle accurately reaches the position Pt4.
Further, according to one aspect of the invention, if it is determined that the vehicle does not accurately reach the position Pt4, an image of the ground around the vehicle is reacquired by the image acquiring unit, the position of the vehicle relative to second ground marks is determined by the control unit based on the reacquired image, and the position is finely adjusted such that the vehicle is allowed to go straight into the battery swap parking space, wherein the second ground marks are determined on the basis of the position of the battery swap parking space.
According to another aspect of the invention, there is provided a method for automatically parking a vehicle into a battery swap parking space within a battery swap station, comprising:

a step of acquiring an image of the ground around the vehicle;
a step of determining, on the basis of the acquired image, whether the vehicle is located in a parking start area determined by means of prearranged first ground marks;
a step of determining the position of the vehicle relative to the first ground marks if it is determined that the vehicle is located in the parking start area;
a step of determining a parking path for traveling from the position to the battery swap parking space within the battery swap station based on the position; and
a step of controlling the vehicle to perform a parking operation according to the parking path.

Further, according to another aspect of the invention,

the parking path comprises advancing from the position Pt1 (x1, y1) to a position Pt2 (x2, y2), next reversing to a position Pt3 (x3, y3), then traveling to a position Pt4 (x4, y4) in a curve, and finally traveling straight into the battery swap parking space,
wherein with the width direction of the battery swap parking space as an x-axis direction and the length direction of the battery swap parking space as a y-axis direction, the x1, x2, x3, x4, y1, y2, y3 and y4 satisfy the following relationship:
x1 min < x1 < x1 max and y1 min < y1 < y1 max. According to the invention, x1 min, x1 max, y1 min and y1 max represent constants determined according to the length and width of the battery swap parking space;
x2 > half of the width of the battery swap parking space + a minimum turning radius which can be reached by the vehicle, and y2 = y1;
x3 = x2 - Delta X and y3 = y1, wherein Delta X represents a constant determined according to the movement speed of the vehicle advancing from Pt1 to Pt2; and
x4 = x3 - the turning radius of the vehicle, and y4 = y2 - the turning radius of the vehicle.

According to the invention, the method further comprises:
a step of displaying information for prompting the driver to adjust the position of the vehicle if it is determined that the vehicle is not located in the parking start area.
Further, according to another aspect of the invention, the method further comprises:
a step of determining whether the vehicle accurately reaches the position Pt4.
Further, according to another aspect of the invention, if it is determined that the vehicle does not accurately reach the position Pt4, an image of the ground around the vehicle is reacquired, the position of the vehicle relative to second ground marks is determined based on the reacquired image, and the position is finely adjusted such that the vehicle is allowed to go straight into the battery swap parking space, wherein the second ground marks are determined based on the position of the battery swap parking space.
According to a further aspect of the invention, there is provided an electric vehicle, characterized in that it comprises the above system according to one aspect of the invention.
Compared with the prior art, one or more of the following beneficial effects may be obtained:

(1) according to the invention, the vehicle is allowed to be quickly, accurately and automatically parked into the battery swap station for battery swapping;
(2) according to the invention, by means of high-precision positioning of the vehicle based on the image acquiring unit such as a camera and accurate control in the lateral and longitudinal directions, it is possible to avoid vehicle collision during the whole parking so as to ensure vehicle safety.

Brief Description of the Drawings

Fig. 1 is an exemplary block diagram of a system for automatically parking a vehicle into a battery swap parking space within a battery swap station according to an embodiment of the invention.
Fig. 2 is a schematic view illustrating ground marks and a parking path according to an embodiment of the invention.
Fig. 3 is an exemplary flow diagram of a method for automatically parking a vehicle into a battery swap parking space within a battery swap station according to an embodiment of the invention.

Detailed Description of Embodiments

A system and a method for automatically parking a vehicle into a battery swap parking space within a battery swap station, and an electric vehicle that the invention relates to will be described below in further detail with reference to the accompanying drawings. It should be noted that the following detailed description of embodiments are exemplary rather than limiting, and are intended to provide a basic understanding of the invention, and are not intended to confirm key or decisive elements of the invention or limit the scope of protection thereof.
The invention is described below with reference to block diagram illustrations, block diagrams, and/or flowcharts of methods and apparatuses of embodiments of the invention. It will be understood that each block of the flowcharts and/or the block diagrams, and combinations of the flowcharts and/or block diagrams can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment to form a machine, such that the instructions, when executed by the processor of the computer or other programmable data processing equipment, create means for carrying out the functions/operations specified in the flowcharts and/or blocks and/or one or more flow block diagrams.
These computer program instructions may be stored in a computer-readable memory and may instruct a computer or other programmable processors to function in a particular way, such that the instructions stored in the computer-readable memory constitute manufactured products including the instruction means for implement the functions/operations specified in one or more blocks of the flowcharts and/or block diagrams.
These computer program instructions may be loaded onto a computer or other programmable data processors to cause a series of operation steps to be performed on the computer or other programmable processors so as to produce computer implemented processes, such that the instructions executed on the computer or other programmable data processors provide steps for implementing the functions or operations specified in one or more blocks of the flowcharts and/or block diagrams. It should also be noted that in some alternatives, the functions/operations illustrated in the blocks may not be carried out in the order illustrated in the flowcharts. For example, two blocks shown in succession may in fact be executed substantially simultaneously or the blocks may sometimes be executed in a reverse order, specifically depending upon the functions/operations involved.
The system for automatically parking the vehicle into the battery swap parking space within the battery swap station according to an embodiment of the invention will be described below with reference to Fig. 1.
Fig. 1 is an exemplary block diagram of a system for automatically parking a vehicle into a battery swap parking space within a battery swap station according to an embodiment of the invention. As shown in Fig. 1, the system 100 comprises an image acquiring unit 101 configured to acquire an image of the ground around the vehicle. In an example, the image acquiring unit 101 may be a camera, but is not limited thereto, and any component capable of capturing an image of the ground around the vehicle may also be used to implement the image acquiring unit 101.
In an embodiment, as shown in Fig. 1, the system 100 may further comprise a control unit 102 configured to determine, on the basis of the acquired image, whether the vehicle is located within a parking start area determined by means of prearranged first ground marks, to determine a position of the vehicle relative to the first ground marks if it is determined that the vehicle is located within the parking start area, to determine, on the basis of the position, a parking path for traveling from the position to the battery swap parking space within the battery swap station, and to control the vehicle to perform a parking operation according to the parking path. In an example, the control unit 102 may be an electronic control unit (ECU), but is not limited thereto, and any component capable of controlling the entire vehicle may also be used to implement the control unit 102.
The above-mentioned operations of the system 100 is schematically illustrated in Fig. 2 as an example.
As shown in Fig. 2, the image acquiring unit 101 of the vehicle acquires for example the image of the ground around the vehicle periodically, and the control unit 102 determines, based on the acquired image, whether the vehicle is located in the parking start area determined by means of the prearranged ground marks extending along the x-axis. The parking start area may be characterized for example by the range of values of horizontal and vertical coordinates of Pt1, that is, in the case where the width direction of the battery swap parking space (the vehicle position where a point Pt5 is located at the lower right in Fig. 2) is taken as the x-axis direction and the length direction of the battery swap parking space is taken as the y-axis direction, as long as the vehicle is located in an area defined by x1 min to x1 max and y1 min to y1 max (wherein x 1 min, x1 max, y1 min and y1 max are constants), it may be determined that the vehicle is located in the parking start area in which the image acquiring unit 101 can accurately identify the ground marks extending along the x-axis. In addition, with regards to the values of x1 min, x1 max, y1 min and y1 max, upon determining the length and width of the battery swap parking space, the ground marks extending along the x-axis are determined, and x1 min, x1 max, y1 min and y1 max are also determined accordingly.
The position of the vehicle relative to the ground marks extending along the x-axis is determined if it is determined that the vehicle is already located in the parking start area, and the parking path for traveling from the position to the battery swap parking space within the battery swap station is determined based on the position. With regards to the parking path, for example, as shown in Fig. 2, it is assumed that the vehicle is parked at the position of the point Pt1, at this point, it is determined, based on the current position, that the vehicle travels straight in the forward X-axis direction to a point Pt2 (x2, y2) from the current position as a start point, next travels straight in the reverse X-axis direction from the point Pt2 to a point Pt3 (x3, y3), then is driven to a position Pt4 (x4, y4) along a curve trajectory, and finally directly enters the parking path for the battery swap parking space (the vehicle position where the Pt5 point is located at the lower right of Fig. 2). In the parking path, the points Pt1 (x1, y1), Pt2 (x2, y2), Pt3 (x3, y3) and Pt4 (x4, y4) satisfy the following relationship:

> x2 > one half of the width of the battery swap parking space + the minimum turning radius which can be reached by the vehicle, and y2 = y1;
> x3 = x2 - Delta X and y3 = y1, wherein Delta X represents a constant determined according to the movement speed of the vehicle advancing from Pt1 to Pt2; and
> x4 = x3 - the turning radius of the vehicle, and y4 = y2 - the turning radius of the vehicle.

After determining the parking path of Pt1→Pt2→Pt3→Pt4→Pt5 described above, the control unit 102 controls the vehicle to perform the parking operation according to the parking path.
Optionally, in an embodiment, the system 100 may further comprise a display unit 103 configured to display information for prompting a driver to adjust the position of the vehicle if the control unit 102 determines that the vehicle is not located within the parking start area. In an example, the display unit 103 may be a touch display screen, but is not limited thereto, and any component capable of displaying the information for prompting the driver to adjust the position of the vehicle may be used to implement the display unit 103.
Optionally, in an embodiment, the control unit 102 may further be configured to determine whether the vehicle accurately reaches the point Pt4. For example, the control unit 102 may determine whether the vehicle accurately reaches the point Pt4 (x4, y4) in order to ensure that the vehicle can reverse and go straight when traveling near the point Pt4 to safely enter the battery swap parking space. If it is determined that the vehicle does not accurately reach the point Pt4 (x4, y4), an image of the ground around the vehicle is reacquired by the image acquiring unit 101, the position of the vehicle relative to the ground marks extending along the y-axis in Fig. 2 is determined by the control unit 102 based on the reacquired image, and the position is finely adjusted (for example, the position and posture are finely adjusted by moving the vehicle back and forth) so as to allow the vehicle to safely go straight into the battery swap parking space (the vehicle position where the point Pt5 is located at the lower right of Fig. 2), wherein the ground marks extending along the y-axis are determined according to the position of the battery swap parking space (the vehicle position where the point Pt5 is located at the lower right of Fig. 2).
By means of the system for automatically parking the vehicle into the battery swap parking space within the battery swap station, the vehicle is allowed to be quickly, safely and automatically parked into the battery swap station for battery swapping. The system for automatically parking the vehicle into the battery swap parking space within the battery swap station according to an embodiment of the invention may be applied to a pure electric vehicle, a hybrid electric vehicle, or the like.
Next, a method for automatically parking a vehicle into a battery swap parking space within a battery swap station according to an embodiment of the invention will be described below with reference to Fig. 3.
As shown in Fig. 3, the method S100 comprises a step (S1) of acquiring an image of the ground around the vehicle. In an example, the image of the ground around the vehicle is acquired by the image acquiring unit such as a camera in the vehicle.
In an embodiment, as shown in Fig. 3, the method 100 may further comprise a step (S2) of determining, on the basis of the acquired image, whether the vehicle is located in a parking start area determined by means of prearranged first ground marks. In an embodiment, the control unit such as an electronic control unit (ECU) in the vehicle determines, on the basis of the acquired image in S 1, whether the vehicle is located in the parking start area determined by means of the prearranged first ground marks.
In an example, as shown in Fig. 3, the method 100 may further comprise a step (S3) of determining the position of the vehicle relative to the first ground marks if it is determined that the vehicle is located in the parking start area. In an embodiment, the step of determining, by the control unit such as the electronic control unit (ECU) in the vehicle, the position of the vehicle relative to the first ground marks if it is determined that the vehicle is located in the parking start area.
In an embodiment, as shown in Fig. 3, the method 100 may further comprise a step (S5) of determining a parking path for traveling from the position to the battery swap parking space within the battery swap station based on the position. In an example, the parking path for traveling from the position determined in S3 to the battery swap station within the battery swap station is determined by the control unit such as the electronic control unit (ECU) in the vehicle based on the position.
In an embodiment, as shown in Fig. 3, the method 100 may further comprise a step (S6) of controlling the vehicle to perform a parking operation according to the parking path. In an example, the vehicle is controlled by the control unit such as the electronic control unit (ECU) in the vehicle to perform the parking operation according to the parking path determined in S5.
The above steps of the method 100 are schematically illustrated in Fig. 2 as an example.
As shown in Fig. 2, the image acquiring unit of the vehicle acquires for example the image of the ground around the vehicle periodically, and the control unit determines, based on the acquired image, whether the vehicle is located in the parking start area determined by means of the prearranged ground marks extending along the x-axis. The parking start area can be characterized for example by the range of values of horizontal and vertical coordinates of Pt1, that is, in the case where the width direction of the battery swap parking space (the vehicle position where a point Pt5 is located at the lower right in Fig. 2) is taken as the x-axis direction and the length direction of the battery swap parking space is taken as the y-axis direction, as long as the vehicle is located in an area defined by x1 min to x1 max and y1 min to y1 max (wherein x1 min, x1 max, y1 min and y1 max are constants), it may be determined that the vehicle is located in the parking start area in which the image acquiring unit can accurately identify the ground marks extending along the x-axis. In addition, with regards to the values of x1 min, x1 max, y1 min and y1 max, upon determining the length and width of the battery swap parking space, the ground marks extending along the x-axis are determined, and x1 min, x1 max, y1 min and y1 max are also determined accordingly.
The position of the vehicle relative to the ground marks extending along the x-axis is determined if it is determined that the vehicle is already located in the parking start area, and the parking path for traveling from the position to the battery swap parking space within the battery swap station is determined based on the position. With regards to the parking path, for example, as shown in Fig. 2, it is assumed that the vehicle is parked at the position of the point Pt1, at this point, it is determined, based on the current position, that the vehicle travels straight in the forward X-axis direction to a point Pt2 (x2, y2) from the current position as a start point, next travels straight in the reverse X-axis direction from the point Pt2 to a point Pt3 (x3, y3), then is driven to a position Pt4 (x4, y4) along a curve trajectory, and finally directly enters the parking path for the battery swap parking space (the vehicle position where the Pt5 point is located at the lower right of Fig. 2). In the parking path, the points Pt1 (x1, y1), Pt2 (x2, y2), Pt3 (x3, y3) and Pt4 (x4, y4) satisfy the following relationship:

> x2 > half of the width of the battery swap parking space + a minimum turning radius which can be reached by the vehicle, and y2 = y1;
> x3 = x2 - Delta X and y3 = y1, wherein Delta X represents a constant determined according to the movement speed of the vehicle advancing from Pt1 to Pt2; and
> x4 = x3 - the turning radius of the vehicle, and y4 = y2 - the turning radius of the vehicle.

After determining the parking path of Pt1→Pt2→Pt3→Pt4→Pt5 described above, the control unit 102 controls the vehicle to perform the parking operation according to the parking path.
Optionally, in an embodiment, the method S 100 may further comprise a step (S4) of displaying information for prompting a driver to adjust the position of the vehicle if it is determined that the vehicle is not located within the parking start area. In an example, the information for prompting the driver to adjust the position of the vehicle is displayed by a display unit such as a touch display screen in the vehicle if it is determined that the vehicle is not located in the parking start area.
Optionally, in an embodiment, the method S 100 may further comprise a step (not shown) of determining whether the vehicle accurately reaches the point Pt4. For example, the control unit such as the electronic control unit (ECU) in the vehicle may determine whether the vehicle accurately reaches the point Pt4 (x4, y4) in order to ensure that the vehicle can reverse and go straight when traveling near the point Pt4 to safely enter the battery swap parking space. If it is determined that the vehicle does not accurately reach the point Pt4 (x4, y4), an image of the ground around the vehicle is reacquired by the image acquiring unit such as a camera in the vehicle, the position of the vehicle relative to the ground marks extending along the y-axis in Fig. 2 is determined by the control unit such as the electronic control unit (ECU) in the vehicle based on the reacquired image, and the position is finely adjusted (for example, the position and posture are finely adjusted by moving the vehicle back and forth) so as to allow the vehicle to safely go straight into the battery swap parking space (the vehicle position where the point Pt5 is located at the lower right of Fig. 2), wherein the ground marks extending along the y-axis are determined according to the position of the battery swap parking space (the vehicle position where the point Pt5 is located at the lower right of Fig. 2).
By means of the method for automatically parking the vehicle into the battery swap parking space within the battery swap station, the vehicle is allowed to be quickly, safely and automatically parked into the battery swap station for battery swapping. The method for automatically parking the vehicle into the battery swap parking space within the battery swap station according to an embodiment of the invention may be applied to a pure electric vehicle, a hybrid electric vehicle, or the like.
It will be appreciated by a person of ordinary skill in the art that the invention is not limited to the embodiments described above and may be embodied in many other forms without departing from the essence or scope thereof. Therefore, the presented examples and implementations are regarded to be schematic rather than restrictive, and without departing from the scope of the invention that are defined by the appended claims, the invention may cover various changes and replacements.

Claims

A system for automatically parking a vehicle into a battery swap parking space within a battery swap station, characterized by comprising:
an image acquiring unit (101) configured to acquire an image of the ground around a vehicle;

a control unit (102) configured to determine, on the basis of the acquired image, whether the vehicle is located within a parking start area determined by means of prearranged first ground marks, to determine a position of the vehicle relative to the first ground marks if it is determined that the vehicle is located within the parking start area, to determine, on the basis of the position, a parking path for traveling from the position to the battery swap parking space within the battery swap station, and to control the vehicle to perform a parking operation according to the parking path; and

a display unit (103) configured to display information for prompting a driver to adjust the position of the vehicle if the control unit (102) determines that the vehicle is not located within the parking start area,

wherein the parking start area is an area from x1 min to x1 max and from y1 min and y1 max, with the width direction of the battery swap parking space as an x-axis direction and the length direction of the battery swap parking space as a y-axis direction, and wherein x1 min, x1 max, y1 min and y1 max represent constants determined according to the length and width of the battery swap parking space.
The system according to claim 1, characterized in that
the parking path comprises advancing from the position Pt1 having the coordinates x1, y1 to a position Pt2 having the coordinates x2, y2, next reversing to a position Pt3 having the coordinates x3, y3, then traveling to a position Pt4 having the coordinates x4, y4 in a curve, and finally traveling straight into the battery swap parking space,

wherein with the width direction of the battery swap parking space as an x-axis direction and the length direction of the battery swap parking space as a y-axis direction, the x1, x2, x3, x4, y1, y2, y3 and y4 satisfy the following relationship: x1 min < x1 < x1 max and y1 min < y1 < y1 max, wherein x1 min, x1 max, y1 min and y1 max represent constants determined according to the length and width of the battery swap parking space;

x2 > half of the width of the battery swap parking space + a minimum turning radius which can be reached by the vehicle, and y2 = y1;

x3 = x2 - Delta X and y3 = y1, wherein Delta X represents a constant determined according to the movement speed of the vehicle advancing from Pt1 to Pt2; and

x4 = x3 - the turning radius of the vehicle, and y4 = y2 - the turning radius of the vehicle.
The system according to claim 2, characterized in that the control unit (102) is further configured to determine whether the vehicle accurately reaches the position Pt4.
The system according to claim 3, characterized in that if it is determined that the vehicle does not accurately reach the position Pt4, an image of the ground around the vehicle is reacquired by the image acquiring unit (101), the position of the vehicle relative to second ground marks is determined by the control unit (102) based on the reacquired image, and the position is finely adjusted such that the vehicle is allowed to go straight into the battery swap parking space, wherein the second ground marks are determined on the basis of the position of the battery swap parking space.
A method for automatically parking a vehicle into a battery swap parking space within a battery swap station, characterized by comprising:
a step of acquiring an image of the ground around the vehicle;

a step of determining, on the basis of the acquired image, whether the vehicle is located in a parking start area determined by means of prearranged first ground marks;

a step of determining the position of the vehicle relative to the first ground marks if it is determined that the vehicle is located in the parking start area;

a step of determining a parking path for traveling from the position to the battery swap parking space within the battery swap station based on the position;

a step of controlling the vehicle to perform a parking operation according to the parking path; and

a step of displaying information for prompting the driver to adjust the position of the vehicle if it is determined that the vehicle is not located in the parking start area,

wherein the parking start area is an area from x1 min to x1 max and from y1 min and y1 max, with the width direction of the battery swap parking space as an x-axis direction and the length direction of the battery swap parking space as a y-axis direction, and wherein x1 min, x1 max, y1 min and y1 max represent constants determined according to the length and width of the battery swap parking space.
The method according to claim 5, characterized in that
the parking path comprises advancing from the position Pt1 having the coordinates x1, y1 to a position Pt2 having the coordinates x2, y2, next reversing to a position Pt3 having the coordinates x3, y3, then traveling to a position Pt4 having the coordinates x4, y4 in a curve, and finally traveling straight into the battery swap parking space,

wherein with the width direction of the battery swap parking space as an x-axis direction and the length direction of the battery swap parking space as a y-axis direction, the x1, x2, x3, x4, y1, y2, y3 and y4 satisfy the following relationship:
x1 min < x1 < x1 max and y1 min < y1 < y1 max, wherein x1 min, x1 max, y1 min and y1 max represent constants determined according to the length and width of the battery swap parking space;

x2 > half of the width of the battery swap parking space + a minimum turning radius which can be reached by the vehicle, and y2 = y1;

x3 = x2 - Delta X and y3 = y1, wherein Delta X represents a constant determined according to the movement speed of the vehicle advancing from Pt1 to Pt2; and

x4 = x3 - the turning radius of the vehicle, and y4 = y2 - the turning radius of the vehicle.
The method according to claim 6, characterized by further comprising:
a step of determining whether the vehicle accurately reaches the position Pt4.
The method according to claim 7, characterized in that if it is determined that the vehicle does not accurately reach the position Pt4, an image of the ground around the vehicle is reacquired, the position of the vehicle relative to second ground marks is determined based on the reacquired image, and the position is finely adjusted such that the vehicle is allowed to go straight into the battery swap parking space, wherein the second ground marks are determined based on the position of the battery swap parking space.
An electric vehicle, characterized by comprising a system according to any one of claims 1 to 4.